Visual feedback control of nonlinear robotics systems via stabilizing receding horizon control approach

摘要

This paper investigates a robot motion control with visual information via the nonlinear receding horizon control approach. Firstly the model of the relative rigid body motion and the nonlinear observer are considered in order to derive the visual feedback system. Secondly the stabilizing feedback control law for the closed-loop is discussed as a preparation for our main result. Finally we propose the stabilizing receding horizon control scheme for the 3D visual feedback control problem by using an appropriate control Lyapunov function as the end point penalty. The proposed scheme employs the cost function as a Lyapunov function for establishing stability.